Glass tube processing control method, device, system, and storage medium

Abstract

The present application provides a glass tube processing control method, device, system, and storage medium, belonging to the technical field of glass tube processing control. The method comprises: receiving a tube loading request signal transmitted by a lower tube mechanism, the tube loading request signal carrying information about the position of the tube to be loaded; the tube loading request signal is transmitted when a sensor in the lower tube mechanism fails to detect a glass tube at a target position; controlling the tube loading mechanism to perform a tube removal operation from a rack for placing glass tubes according to the tube position information; the rack for placing glass tubes is determined based on the diameter of the glass tubes, the number of layers of glass tubes, and the number of columns of glass tubes; determining a tube loading time based on the tube position information, and performing a tube loading operation based on the tube loading time to achieve glass tube processing control; the tube loading operation is used to place the glass tube removed by the tube removal operation in the lower tube mechanism. This application can improve the accuracy of glass tube processing control.

Description

Technical Field

[0001] The present application belongs to the field of glass tube processing control technology, and more specifically, relates to a glass tube processing control method and device, system, and storage medium. Background Art

[0002] Among the processing methods for glass products such as ampoules, the vertical processing method is widely used because it can ensure the verticality and stability of the glass tube during the processing, such as the Chinese patent with patent announcement number CN108975665A.

[0003] However, the existing vertical ampoule processing control system still has shortcomings in automation and precise control. Specifically, during the glass tube loading process, the existing system may not perform the loading operation in a timely or accurate manner, which may easily cause problems such as glass tube collision and dislocation, thereby affecting the smooth progress of subsequent processing steps.

[0004] Therefore, an accurate and reliable glass tube processing control method is needed. Summary of the Invention

[0005] The purpose of this application is to provide a glass tube processing control method and device, system, and storage medium to improve the accuracy of glass tube processing control.

[0006] In a first aspect of an embodiment of the present application, a glass tube processing control method is provided, which is applied to a vertical ampoule processing control system. The system includes: a controller, an upper tube mechanism, and a lower tube mechanism. The controller exchanges information with the upper tube mechanism and the lower tube mechanism respectively. The method is executed by the controller and includes:

[0007] Receive a tube-up request signal sent by the lower tube mechanism, the tube-up request signal carrying information about the position of the tube to be loaded; the tube-up request signal is sent when the sensor in the lower tube mechanism does not detect the glass tube at the target position;

[0008] Controlling the tube loading mechanism to perform a tube removal operation from a material rack according to the glass tube position information, wherein the material rack is used to place the glass tubes; the glass tube position information is determined based on the diameter of the glass tube, the number of layers of the glass tube, and the number of columns of the glass tube;

[0009] The tube loading time is determined based on the position information of the tube to be loaded, and the tube loading operation is performed based on the tube loading time to realize processing control of the glass tube. The tube loading operation is used to place the glass tube taken by the tube taking operation in the tube lowering mechanism.

[0010] A second aspect of the embodiments of the present application provides a glass tube processing control device, which is applied to a controller in a vertical ampoule processing control system. The system includes: a controller, an upper tube mechanism, and a lower tube mechanism, wherein the controller exchanges information with the upper tube mechanism and the lower tube mechanism respectively; the device includes:

[0011] The request receiving module is used to receive a tube-up request signal sent by the lower tube mechanism, the tube-up request signal carrying information about the position of the tube to be loaded; the tube-up request signal is sent when the sensor in the lower tube mechanism does not detect the glass tube at the target position;

[0012] a tube removal control module, configured to control the tube loading mechanism to remove the tubes from a rack according to the tube position information, wherein the rack is used to place the glass tubes; the tube position information is determined based on the diameter of the glass tubes, the number of layers of the glass tubes, and the number of columns of the glass tubes;

[0013] The tube loading control module is used to determine the tube loading time based on the position information of the tube to be loaded, and to perform the tube loading operation based on the tube loading time to realize the processing control of the glass tube. The tube loading operation is used to place the glass tube taken by the tube removal operation in the tube lowering mechanism.

[0014] According to a third aspect of an embodiment of the present application, a vertical ampoule processing control system is provided, comprising a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of the above-mentioned glass tube processing control method are implemented.

[0015] According to a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned glass tube processing control method are implemented.

[0016] The glass tube processing control method, device, system, and storage medium provided in the embodiments of the present application have the following beneficial effects:

[0017] This application uses a sensor in the tube-loading mechanism to detect glass tubes. If a glass tube is not detected at the target position, a tube-loading request signal carrying the position information of the tube to be loaded is sent to the controller. After receiving this signal, the controller controls the tube-loading mechanism to remove the tube from the rack according to the tube position information and determines the loading time based on the tube position information. This improves the accuracy of the tube-loading operation, effectively avoids problems such as glass tube collision and misalignment caused by untimely or inaccurate tube loading, and ensures the smooth progress of subsequent processing steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1A schematic structural diagram of a vertical ampoule processing control system provided in one embodiment of the present application;

[0020] Figure 2 A schematic flow chart of a glass tube processing control method provided in one embodiment of the present application;

[0021] Figure 3 A schematic diagram of a first arc length provided in an embodiment of the present application;

[0022] Figure 4 This is a structural block diagram of a glass tube processing control device provided in one embodiment of the present application;

[0023] Figure 5 A schematic block diagram of a controller provided in accordance with an embodiment of the present application. DETAILED DESCRIPTION

[0024] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0025] In order to make the purpose, technical solutions and advantages of this application clearer, specific embodiments will be described below with reference to the accompanying drawings.

[0026] First, the vertical ampoule processing control system is explained. Figure 1 This is a schematic diagram of a vertical ampoule processing control system provided in one embodiment of the present application, as shown in FIG. Figure 1 As shown in FIG, the vertical ampoule processing control system includes: an upper tube mechanism 10 and a lower tube mechanism 11. The controller is Figure 1 Not shown in the figure, it is essentially a computer for information exchange with various mechanisms. The information exchange can be wired or wireless. The upper tube mechanism 10 includes: a suction mechanism 101, a clamping mechanism 102 and a tube pushing mechanism 103. The suction mechanism 101 can suck the glass tube from the material rack. The state of the glass tube in the material rack is horizontal, and the state in the lower tube mechanism is vertical.

[0027] In one embodiment of the present application, the operating process of the system may be that, after the controller receives a tube loading request, it controls each mechanism to execute the following process: After the suction mechanism 101 sucks the glass tube, the horizontal servo motor provides power to it and moves the suction mechanism 101 horizontally to the clamping mechanism 102. It should be noted that during this process, the glass tube is in a horizontal state. When the suction mechanism 101 reaches the position of the clamping mechanism 102, the vertical servo motor drives the suction mechanism 101 to move downward until the suction mechanism 101 and the clamping mechanism 102 are in the same horizontal plane. At this time, the clamping mechanism 102 performs a clamping operation. When the clamping mechanism 102 has a stable clamping, the suction mechanism 101 deflates, hands the sucked glass tube to the clamping mechanism 102 for clamping, and performs a return operation, that is, first performs an ascending action and then performs a horizontal movement operation. When the suction mechanism 101 performs the ascending operation, the clamping mechanism 102 does not perform a rotation action until the suction mechanism 101 starts to perform a horizontal movement operation to prevent the glass tube from colliding with the suction mechanism 101 during rotation. A safe position refers to any position during horizontal movement.

[0028] Secondly, when the suction mechanism 101 reaches the safe position, the clamping mechanism 102 rotates the clamped glass tube to the vertical direction. Then, another horizontal servo motor drives the clamping mechanism 102 to transport the glass tube to the tube pushing mechanism 103. When the tube pushing mechanism 103 recognizes or detects the presence of a glass tube in front and receives the upper tube instruction, it executes the tube pushing operation and pushes the glass tube into the lower tube mechanism 11. While the lower tube mechanism 11 revolves, it controls the glass tube therein to rotate to achieve uniform heating.

[0029] Please refer to Figure 2 , Figure 2 This is a flow chart of a glass tube processing control method provided in one embodiment of the present application. The method is applied to the above-mentioned vertical ampoule processing control system. The method is executed by a controller and may specifically include: S201-S203.

[0030] S201: Receive a tube-up request signal sent by the lower tube mechanism, the tube-up request signal carrying information about the position of the tube to be loaded; the tube-up request signal is sent when the sensor in the lower tube mechanism does not detect the glass tube at the target position.

[0031] In this embodiment, a lower tube mechanism is used to secure its corresponding glass tube. When the corresponding glass tube completes heating and stretching operations, i.e., after firing of an ampoule, the lower tube mechanism should be lowered to continue ampoule production. A sensor, such as an ultrasonic sensor or a rangefinder, is installed in the lower tube mechanism near the firing position to detect the presence of a glass tube. As the firing process progresses, the individual glass tubes are exhausted, i.e., the sensor no longer detects any glass tubes. The lower tube mechanism then sends a tube loading request signal to the controller. This request signal contains information about the tube loading position, which can be determined based on the current position, for example, using a displacement sensor or information such as rotational speed and initial position. The target position is a predetermined distance from the flame spraying mechanism within the lower tube mechanism. The flame spraying mechanism, also part of the vertical ampoule processing control system, performs the flame spraying operation, i.e., firing the glass tubes. Since the lower tube mechanism is constantly revolving, the flame spraying direction of the flame spraying mechanism continues to follow the glass tube until it exceeds its own flame spraying range. At this time, the next flame spraying mechanism will spray the flame. The detailed working principle and work flow will not be repeated in the embodiment of this application.

[0032] It should be noted that in the embodiment of the present application, the vertical ampoule processing control system includes multiple lower tube mechanisms and multiple flame spray mechanisms. The flame spray mechanisms heat the glass tubes in the lower tube mechanisms, but there is only one upper tube mechanism. When multiple lower tube mechanisms send upper tube request signals, the controller processes them sequentially in the order in which they are received. When multiple lower tube mechanisms send upper tube request signals simultaneously, the controller processes them sequentially in order of their distance from the upper tube mechanism based on the position information they carry.

[0033] S202: Controlling the tube loading mechanism to take the tubes from the rack according to the glass tube position information, where the rack is used to place the glass tubes; the glass tube position information is determined based on the diameter of the glass tube, the number of layers of the glass tube, and the number of columns of the glass tube.

[0034] In this embodiment, the upper tube mechanism is an actuator in the vertical ampoule processing system that is responsible for taking glass tubes from the material rack and transporting them to the lower tube mechanism. It may include components such as a suction mechanism, a clamping mechanism, and a tube pushing mechanism. The glass tubes are placed horizontally in the material rack. The information form of the glass tube position information includes but is not limited to the storage coordinates of the glass tubes in the material rack, so that the upper tube mechanism can perform the tube taking operation according to the storage coordinates of the glass tubes. Furthermore, the information form of the glass tube position information can also be the Mth row and Nth column, that is, the storage position of a certain glass tube is the Mth row and Nth column (wherein the first row and the first column are pre-set). However, as a preferred embodiment, the glass tube position information should be the storage coordinates, because the diameters of the glass tubes corresponding to different production batches are different, and only storing the number of rows and columns cannot control the suction. The suction mechanism is used for accurate suction. For example, for two batches of processing tasks, for glass tubes with a diameter of D and glass tubes with a diameter of 2D, even if the storage positions are both in the first row and the first column, the suction positions of the suction mechanism should be different when sucking. Therefore, it is preferably a coordinate. Furthermore, the coordinate information corresponding to each glass tube in the glass tube position information should be the position information sucked by the suction mechanism, that is, when the glass tube is placed horizontally in the material rack, among the two points tangent to the horizontal plane, the coordinate of the point closer to the top, or it can be understood as the coordinate of the topmost point when the glass tube is placed horizontally.

[0035] In this embodiment, the position information can be three-dimensional coordinate information or two-dimensional coordinate information, preferably two-dimensional coordinate information, because the upper tube mechanism should suck the middle position of the glass tube when performing the tube taking operation, and in the actual production process, the glass tubes placed on the material rack generally will not have a large front-to-back offset, and the length is relatively fixed. Even if the length is different, the relevant personnel will place the midpoint of its length below the position where the suction mechanism performs the suction operation when placing the material rack.

[0036] Specifically, the glass tube position information includes the position information of each glass tube currently stacked in the rack; in the embodiment of the present application, the position information of each glass tube is determined by:

[0037] Obtain target diameter information, the number of layers of the glass tube in the rack, and the number of columns of the glass tube in the rack, where the target diameter information is the diameter of a glass tube;

[0038] The position information of the glass tube is determined based on the target diameter information, the layer number of the glass tube in the material rack, and the column number of the glass tube in the material rack.

[0039] In this embodiment, the target diameter information is the diameter of a glass tube. It should be noted that the diameters of the glass tubes placed on the rack should be consistent. When the diameters of the glass tubes are different, the target diameter information should be re-entered, or the glass tubes of the batch diameter should be re-placed when executing the next batch of tasks.

[0040] In this embodiment, coordinate information is selected as the position information of the glass tube, and the coordinate system can be established in the following manner: the material rack is observed along the axial direction of the glass tube when it is placed on the material rack to obtain the outline of the material rack, the lower left corner of the inner contour of the material rack outline is used as the coordinate origin, the lower edge of the inner contour is used as the X-axis, the right is the positive direction, the left edge of the inner contour is used as the Y-axis, and the upward direction is the positive direction to establish the coordinate system.

[0041] Based on the target diameter information and the layer number of the glass tube in the rack, the position information of the first glass tube in the layer can be determined. The first glass tube from left to right can be the first one. It should be noted that since the glass tubes are placed horizontally, the horizontal coordinates of the glass tubes in different layers in the same column can be completely consistent or can differ by a radius, depending on the arrangement method. Therefore, when determining the arrangement method, the horizontal coordinate of each glass tube can be obtained by the column number and diameter, and the vertical coordinate of each glass tube can be obtained by the layer number and diameter.

[0042] S203: Determine the tube loading time based on the tube position information to be loaded, and perform the tube loading operation based on the tube loading time to realize processing control of the glass tube. The tube loading operation is used to place the glass tube taken in the tube taking operation into the tube lowering mechanism.

[0043] In this embodiment, the timing for tube loading is determined based on the tube position and rotational speed transmitted by the lower tube mechanism. It should be noted that since the lower tube mechanism is in orbit while the upper tube mechanism is stationary, the tube loading operation can be performed in advance to prevent glass tube breakage or misplaced tube loading. Each of the aforementioned steps is used to place the glass tube in the lower tube mechanism and heat it via the heating mechanism to continuously process the ampoule. The heating and processing principles will not be further described in this application.

[0044] From the above, it can be concluded that the present application detects the glass tube through the sensor in the lower tube mechanism. When the glass tube is not detected at the target position, a tube loading request signal carrying the position information of the tube to be loaded is sent to the controller. After receiving the signal, the controller controls the upper tube mechanism to perform the tube removal operation from the rack according to the glass tube position information, and determines the tube loading time based on the position information of the tube to be loaded to perform the tube loading operation, thereby improving the timeliness and accuracy of the tube loading operation, effectively avoiding problems such as glass tube collision and dislocation caused by untimely or inaccurate tube loading, and ensuring the smooth progress of subsequent processing steps. The present application determines the glass tube position information by the diameter of the glass tube, the number of layers of the glass tube, and the number of columns of the glass tube, thereby controlling the upper tube mechanism to remove the glass tube from the rack, reducing production delays and defective rates caused by tube loading errors.

[0045] In one embodiment of the present application, the tube loading mechanism includes: a suction mechanism, a clamping mechanism, and a servo motor; the servo motor is used to provide power to the suction mechanism and the clamping mechanism; in this embodiment of the present application, controlling the tube loading mechanism to perform a tube removal operation from the rack according to the glass tube position information includes:

[0046] Determine the position information of the glass tube to be sucked according to the position information of the glass tube;

[0047] Based on the position information, the suction mechanism is controlled to perform a suction operation on the glass tube to be sucked from the rack;

[0048] In response to the suction force of the suction mechanism not meeting the preset suction force condition, looping and determining the position information of the next glass tube to be sucked according to the glass tube position information, and controlling the suction mechanism to perform a suction operation based on the position information until the suction force of the suction mechanism meets the preset suction force condition;

[0049] In response to the suction force of the suction mechanism satisfying a preset suction force condition, controlling the suction mechanism to transport the glass tube to the clamping mechanism;

[0050] In response to the included angle of the clamping mechanism satisfying a preset included angle condition and the clamping force of the clamping mechanism satisfying a preset clamping condition, controlling the suction mechanism to perform a deflation operation;

[0051] In response to the deflation operation being completed, the suction mechanism is controlled to return to a preset position.

[0052] In this embodiment, the suction mechanism can be a component that grasps the glass tube through vacuum suction and can include devices such as a suction cup, a vacuum pump, and a pressure sensor. The clamping mechanism is a component that receives the glass tube from the suction mechanism and rotates it to a vertical position. It can be composed of a gripper, a servo motor, and a force sensor. The servo motor provides power to the suction and clamping mechanisms and supports closed-loop control.

[0053] In this embodiment, the position information of the glass tube to be sucked can be determined according to a preset order. The preset order can be from top to bottom and from left to right, that is, the glass tube on the top layer and the leftmost side of the material rack is always sucked. The controller can control the suction mechanism to suck the glass tube at this position based on the determined position information. When it is judged that the suction force of the suction mechanism does not meet the preset suction force conditions, it means that the suction force is too small, and the glass tube may not be sucked. This situation may occur because when the glass tube position information is entered, the glass tube is defined as a position where there is no glass tube. At this time, the position information of the next glass tube should be determined according to the glass tube position information and the preset order, and the aforementioned suction operation should be performed until the suction force of the suction mechanism meets the preset suction force conditions, that is, the glass tube is sucked.

[0054] After determining that the glass tube has been sucked up, the controller controls the suction mechanism to transport the glass tube to the clamping mechanism. The servo motor is used to power this process, which first moves horizontally and then moves vertically downward until the suction mechanism is aligned with the clamping mechanism. At this point, the clamping mechanism is controlled to perform a clamping operation. When the clamping mechanism's angle meets the preset angle condition and the clamping force meets the preset clamping condition, it indicates that the clamping mechanism has completed the clamping operation. The suction mechanism can then be deflated and then return to the preset position. If the clamping mechanism's angle does not meet the preset angle condition and / or the clamping force does not meet the preset clamping condition, the suction mechanism remains in the suction state.

[0055] In this embodiment, the preset angle condition should be determined based on the diameter of the glass tube. The larger the diameter of the glass tube, the larger the corresponding angle. The corresponding relationship can be determined based on a simple geometric relationship, which will not be repeated in the embodiments of this application. The preset clamping condition can be that the clamping force meets the weight requirements and the bearing force requirements of the glass tube. The specific setting can be made by those skilled in the art based on the actual application scenario.

[0056] From the above, it can be concluded that the embodiment of the present application effectively avoids the failure of tube removal due to incorrect position information of a single glass tube or suction errors through the circular suction mechanism, improves the success rate and reliability of tube removal, and reduces production interruptions and defective products caused by tube removal problems. The present application controls the suction mechanism to deflate only when the angle of the clamping mechanism meets the preset angle condition and the clamping force meets the preset clamping condition, ensuring that the glass tube is accurately positioned and firmly clamped during the transfer process from the suction mechanism to the clamping mechanism, avoiding damage to the glass tube or position deviation due to improper transfer or clamping.

[0057] In one embodiment of the present application, the preset suction conditions include an upper suction limit and a lower suction limit; in this embodiment of the present application, the process of determining the preset suction conditions may include: determining the upper suction limit based on the diameter of the glass tube; the diameter of the glass tube is negatively correlated with the upper suction limit; determining the lower suction limit based on the weight of the glass tube; the weight of the glass tube is positively correlated with the lower suction limit.

[0058] In this embodiment, considering that the main failure mode of the glass tube under local suction is rupture caused by excessive local stress, and the stress is concentrated in the suction cup contact area, the analysis is based on the mechanical model of a thin-walled cylindrical shell (the glass tube is regarded as a thin-walled structure): the approximate formula for the maximum stress caused by the local radial load is:

[0059] ,in, is the maximum stress caused by local radial load, is a constant that depends on the load distribution and the Poisson's ratio of the material (taken as 0.2 in this scenario) and can be determined based on experience or multiple experiments. The suction force applied, is the diameter of the glass tube, is the wall thickness of the glass tube.

[0060] When the stress reaches the allowable stress of the glass tube, the glass tube may break, that is:

[0061] ,in is the allowable stress of the glass tube, is the maximum suction force, that is, the upper limit of suction force. The above formula is deduced to obtain the first formula:

[0062] , which means that the maximum suction force is inversely proportional to the square root of the diameter. Therefore, the diameter of the glass tube is negatively correlated with the upper limit of the suction force. In other words, in this embodiment of the application, the upper limit of the suction force under the preset suction conditions can be calculated using the first formula. The first formula and the aforementioned derived formula are dimensionless calculation formulas.

[0063] In the embodiment of the present application, the lower limit of the suction force of the preset suction force condition can be calculated by the second formula, which is:

[0064] ,in, Indicates the minimum suction, that is, the lower limit of suction, It represents the dynamic safety factor, which can be determined based on the transport speed of the suction mechanism during transportation. The dynamic safety factor should be positively correlated with the speed. The specific value can be set based on the actual application scenario. Indicates the weight of the glass tube, Indicates the maximum acceleration of the suction mechanism during transportation. Indicates the acceleration due to gravity. That is, the greater the transport speed and maximum acceleration of the suction mechanism, the greater the corresponding minimum suction force should be to prevent slipping.

[0065] On this basis, considering that the diameter of the glass tube affects the effective adsorption area of ​​the suction cup, the lower limit of the suction force can also be determined based on the weight and diameter of the glass tube. For example, it can be determined based on the third formula, which can be:

[0066] ,in, Indicates the sealing coefficient, is the surface friction coefficient, and It can be determined based on experience or multiple experiments. is the effective adsorption area. In this application scenario, the suction cup is a round suction cup, so ,in is the diameter of the circular suction cup.

[0067] After considering the effective adsorption area, the lower limit of suction force in the third formula increases as the diameter of the glass tube decreases. The principle is that when the diameter of the glass tube becomes smaller, its surface curvature becomes larger, and the corresponding suction cup adsorption area becomes smaller. Therefore, the lower limit of suction force should increase. The second and third formulas are dimensionless calculation formulas.

[0068] From the above, it can be concluded that the embodiment of the present application, through the mechanical model analysis of a thin-walled cylindrical shell, concludes that the glass tube diameter is negatively correlated with the upper limit of suction force. A dimensionless first formula is derived for calculating the upper limit of suction force, allowing the maximum suction force to be determined based on the actual diameter of the glass tube during suction. This prevents damage to the glass tube due to excessive suction force during suction, thus ensuring the safety of the glass tube. Secondly, regarding the lower limit of suction force, on the one hand, based on the transport speed of the suction mechanism during transportation, a second formula is used to calculate the lower limit of suction force related to the dynamic safety factor. The greater the transport speed and maximum acceleration, the greater the minimum suction force required, preventing the glass tube from slipping during transportation. On the other hand, the influence of the glass tube diameter on the effective suction area of ​​the suction cup is also considered, and the lower limit of suction force is further determined using a third formula. This ensures that the glass tube has sufficient suction force to remain stable during suction and transportation, and will not fall due to insufficient suction force, further ensuring the safety of the glass tube.

[0069] In one embodiment of the present application, the upper tube mechanism further comprises: a tube pushing mechanism; the servo motor is further used to provide power to the tube pushing mechanism;

[0070] Execute management operations based on the management time, including:

[0071] In response to the suction mechanism returning to the safe position, the clamping mechanism is controlled to rotate the clamped glass tube to a preset angle; the safe position is the target position of the suction mechanism during the process of returning to the preset position;

[0072] Controlling the clamping mechanism to convey the glass tube to the tube pushing mechanism;

[0073] The tube-loading operation is performed based on the state of the tube-pushing mechanism at the tube-loading moment.

[0074] In this embodiment, the tube-pushing mechanism is used to push the glass tube in front of it toward the tube-lowering mechanism during the tube-up phase. The target position is any point along the horizontal trajectory of the suction mechanism. The preset angle can be 90 degrees, which rotates the horizontal glass tube held by the mechanism into a vertical position. A controller controls the clamping mechanism to convey the glass tube toward the tube-pushing mechanism. During this process, the clamping mechanism drives the glass tube in horizontal motion until the glass tube reaches the front of the tube-pushing mechanism.

[0075] It should be noted that, in this embodiment, there is no necessary relationship between the step of controlling the clamping mechanism to rotate the clamped glass tube to a preset angle and the step of controlling the clamping mechanism to transport the glass tube to the tube pushing mechanism. Depending on the mechanical structure of the equipment, the glass tube can be rotated first and then transported, or transported first and then rotated.

[0076] From the above, it can be concluded that the embodiment of the present application sets a safe position as the target position in the process of the suction mechanism returning to the preset position. Only after the suction mechanism returns to the safe position is the clamping mechanism controlled to perform subsequent operations, so that the suction mechanism can safely return to the specified position after completing operations such as sucking and transporting the glass tube, avoiding interference or collision with other mechanisms, creating a safe and orderly environment for subsequent operations such as clamping, rotating and transporting the glass tube, and ensuring the stability and reliability of the entire tube-loading operation process.

[0077] Figure 3 A schematic diagram of the first arc length provided in one embodiment of the present application; Figure 3 In one embodiment of the present application, the vertical ampoule processing control system further includes: a rotating mechanism; the rotating mechanism and the controller perform information exchange;

[0078] Determining the tube placement time based on the tube placement position information includes:

[0079] The first arc length is determined based on the position information of the tube to be loaded and the position of the tube pushing mechanism, wherein the first arc length is the length of an arc on the rotating circumference having the position information of the tube to be loaded and the position of the tube pushing mechanism as endpoints and the rotation direction of the rotating mechanism as a connecting direction; the rotating circumference is a circle having the rotation center of the rotating mechanism as a circle center and the arm length of the rotating mechanism as a radius;

[0080] The tube raising timing is determined based on the first arc length and the rotation speed of the rotating mechanism.

[0081] In this embodiment, the rotating mechanism is used to drive the lower tube mechanism and each glass tube therein to revolve, so the timing when the tube pushing mechanism performs the tube raising operation is more important. Too early or too late will lead to tube raising failure or even glass tube breakage. Therefore, the embodiment of the present application can determine the first arc length based on the position information of the tube to be raised and the position of the tube pushing mechanism.

[0082] In this embodiment, considering that the time obtained by only comparing the first arc length and the rotation speed is essentially the time it takes for the tube-lifting position to reach the position of the tube-lifting mechanism (specifically, the tube-pushing mechanism), performing tube-lifting at this time will inevitably be too late, resulting in tube-lifting failure. Therefore, the time obtained by comparing the first arc length and the rotation speed should also be corrected, that is, the tube-lifting moment is determined based on the first arc length and the rotation speed of the rotation mechanism, including: determining the first tube-lifting moment based on the first arc length and the rotation speed of the rotation mechanism; correcting the first tube-lifting moment based on the tube-lifting time length to obtain the tube-lifting moment; the tube-lifting moment is earlier than the first tube-lifting moment.

[0083] For the embodiment of the present application, the first upper tube moment is the moment obtained by comparing the first arc length with the rotation speed of the rotating mechanism. In this embodiment, the moment can be understood as time or a specific moment obtained by adding the calculated duration to the current time.

[0084] In this embodiment, the tube-lifting time is the time required for the tube-pushing mechanism to perform the tube-lifting action, that is, the time required for the tube-pushing mechanism to perform the tube-lifting action in advance.

[0085] From the above, it can be concluded that the embodiment of the present application determines the first arc length based on the position information of the tube to be installed and the position of the tube pushing mechanism, and then preliminarily determines the first tube installing moment in combination with the rotation speed of the rotating mechanism, and further corrects the first tube installing moment based on the tube installing time, thereby obtaining the final tube installing moment. It fully considers the motion characteristics of the rotating mechanism and the time required for the tube pushing mechanism to perform the tube installing action, and can ensure that the tube installing operation is performed at the appropriate time, avoiding tube installing failure caused by too early or too late tube installing time, improving the tube installing success rate, and reducing production interruptions and defective products caused by tube installing problems.

[0086] Specifically, in one embodiment of the present application, performing a tube-loading operation based on the state of the tube-pushing mechanism at the tube-loading moment includes:

[0087] In response to the state of the tube-pushing mechanism at the tube-loading moment being a tube-attached state, controlling the tube-pushing mechanism to perform a tube-attaching operation at the tube-to-be-attached position information at the tube-loading moment;

[0088] In response to the state of the tube-pushing mechanism at the tube-placing moment being in a tube-free state and the existence of next tube-placing position information, the tube-pushing mechanism is controlled to perform a tube-placing operation toward the next tube-placing position information based on the tube-placing moment corresponding to the next tube-placing position information, and current position information of the tube-placing mechanism is determined, and the tube-placing moment corresponding to the tube-placing mechanism is re-determined based on the current position information, and the tube-placing mechanism is controlled to perform the tube-placing operation based on the re-determined tube-placing moment;

[0089] In response to the tube-pushing mechanism being in a tube-free state at the tube-placing moment and having no other tube-placing position information, the current position information of the tube-placing mechanism is determined, and the tube-placing moment corresponding to the tube-placing mechanism is re-determined based on the current position information, and the tube-placing mechanism is controlled to perform the tube-placing operation based on the re-determined tube-placing moment.

[0090] In this embodiment, the state of the tube-pushing mechanism is determined based on the presence of a glass tube in front of it. If a glass tube is present, it indicates a tube-present state. This can also be determined via a sensor, essentially the same as the sensor in the tube-lowering mechanism. The tube-pushing mechanism is located in front of each rotating tube-lowering mechanism. When performing a tube-up operation, the tube-uppering mechanism can directly push the glass tube in front of it into the tube-lowering mechanism. If no glass tube is present, it indicates a tube-absent state. It should be noted that when the tube-pushing mechanism performs a tube-up operation, the clamping mechanism does not perform a clamping operation. The moment the clamping mechanism releases force should be at least no later than the moment the tube-pushing mechanism performs a tube-up operation.

[0091] In this embodiment, the next tube position information to be mounted refers to the tube position information to be mounted carried in the tube mounting request signal sent by other lower tube mechanisms to the controller. The above description is: when multiple lower tube mechanisms send tube mounting request signals, the controller processes them in sequence. It means that they are processed in sequence under normal circumstances, but if the lower tube mechanism sends a tube mounting request signal when it is about to reach the upper tube mechanism, the upper tube mechanism still needs to complete operations such as taking the tube, clamping, rotating, and mounting the tube, and cannot perform the tube mounting action at its corresponding tube mounting moment. At this time, the tube should be mounted based on the tube mounting moment corresponding to the next tube position information to be mounted, and the tube mounting moment corresponding to the missed lower tube mechanism should be re-determined, and the tube mounting operation should be re-executed.

[0092] In this embodiment, regardless of whether there is the next tube loading position information, the steps of re-determining the tube loading time and controlling the tube pushing mechanism to perform the tube loading operation based on the re-determined tube loading time should be performed.

[0093] For example, if the state of the tube-pushing mechanism at the tube-loading moment is a tube-attached state, the tube-loading operation can be performed directly. However, if the state of the tube-pushing mechanism at the tube-loading moment is a tube-free state, it means that the tube-loading operation cannot be completed within this rotation cycle (referring to the cycle of one rotation of the rotating mechanism), and the only option is to wait for the next tube-loading position. The next tube-loading position may be sent by the currently missed tube-loading mechanism, or it may be sent by other tube-loading mechanisms. Therefore, it is possible to determine whether there is a next tube-loading position to be provided to improve the efficiency of tube-loading. However, in either case, it is necessary to re-determine the tube-loading moment corresponding to the missed tube-loading mechanism and re-execute the tube-loading operation.

[0094] From the above, it can be concluded that in the embodiment of the present application, when the pipe pushing mechanism is in a pipe-free state at the time of pipe placement, if there is the next pipe-to-be-placed position information, the system will control the pipe pushing mechanism to perform the pipe-placing operation based on the pipe-placing time corresponding to the next pipe-placing position information, and at the same time re-determine the pipe-placing time corresponding to the missed lower pipe mechanism and execute it again, which not only makes full use of the idle time of the pipe pushing mechanism when there is no pipe and handles other pipe-placing tasks in a timely manner, but also does not ignore the previously missed pipe-placing requests, ensuring that the needs of all lower pipe mechanisms can be met, optimizing the utilization of system resources, and improving production efficiency.

[0095] Corresponding to the glass tube processing control method of the above embodiment, Figure 4 This is a structural block diagram of a glass tube processing control device provided in one embodiment of the present application. For ease of explanation, only the parts related to the embodiment of the present application are shown. Figure 4 The glass tube processing control device 20 is applied to the controller in the vertical ampoule bottle processing control system. The system includes: a controller, an upper tube mechanism and a lower tube mechanism. The controller exchanges information with the upper tube mechanism and the lower tube mechanism respectively; the glass tube processing control device 20 includes: a request receiving module 21, a tube taking control module 22 and an upper tube control module 23.

[0096] The request receiving module 21 is used to receive a tube-up request signal sent by the lower tube mechanism, the tube-up request signal carrying information about the position of the tube to be loaded. The tube-up request signal is sent when the sensor in the lower tube mechanism does not detect the glass tube at the target position.

[0097] a tube removal control module 22 for controlling the tube loading mechanism to remove tubes from a rack according to the tube position information, wherein the rack is used to place the glass tubes; the tube position information is determined based on the diameter of the glass tubes, the number of layers of the glass tubes, and the number of columns of the glass tubes;

[0098] The tube loading control module 23 is used to determine the tube loading time based on the position information of the tube to be loaded, and perform the tube loading operation based on the tube loading time to realize processing control of the glass tube. The tube loading operation is used to place the glass tube taken in the tube removal operation in the tube lowering mechanism.

[0099] In one embodiment of the present application, the upper tube mechanism includes: a suction mechanism, a clamping mechanism, and a servo motor; the servo motor is used to provide power for the suction mechanism and the clamping mechanism;

[0100] The tube taking control module 22 is specifically used to determine the position information of the glass tube to be taken according to the position information of the glass tube;

[0101] Based on the position information, the suction mechanism is controlled to perform a suction operation on the glass tube to be sucked from the rack;

[0102] In response to the suction force of the suction mechanism not meeting the preset suction force condition, looping and determining the position information of the next glass tube to be sucked according to the glass tube position information, and controlling the suction mechanism to perform a suction operation based on the position information until the suction force of the suction mechanism meets the preset suction force condition;

[0103] In response to the suction force of the suction mechanism satisfying a preset suction force condition, controlling the suction mechanism to transport the glass tube to the clamping mechanism;

[0104] In response to the included angle of the clamping mechanism satisfying a preset included angle condition and the clamping force of the clamping mechanism satisfying a preset clamping condition, controlling the suction mechanism to perform a deflation operation;

[0105] In response to the deflation operation being completed, the suction mechanism is controlled to return to a preset position.

[0106] In one embodiment of the present application, the preset suction conditions include an upper suction limit and a lower suction limit; the glass tube processing control device 20 further includes: a suction determination module for determining the upper suction limit based on the diameter of the glass tube; the diameter of the glass tube is negatively correlated with the upper suction limit;

[0107] The lower limit of suction force is determined based on the weight of the glass tube; the weight of the glass tube is positively correlated with the lower limit of suction force.

[0108] In one embodiment of the present application, the upper tube mechanism further comprises: a tube pushing mechanism; the servo motor is further used to provide power to the tube pushing mechanism;

[0109] The upper tube control module 23 is specifically configured to control the clamping mechanism to rotate the clamped glass tube to a preset angle in response to the suction mechanism returning to the safe position; the safe position is the target position of the suction mechanism during the process of returning to the preset position;

[0110] Controlling the clamping mechanism to convey the glass tube to the tube pushing mechanism;

[0111] The tube-loading operation is performed based on the state of the tube-pushing mechanism at the tube-loading moment.

[0112] In one embodiment of the present application, the vertical ampoule processing control system further includes: a rotating mechanism; the rotating mechanism and the controller perform information exchange;

[0113] The tube-loading control module 23 is further configured to determine a first arc length based on the position information of the tube to be loaded and the position of the tube-pushing mechanism, wherein the first arc length is the length of an arc on a rotating circumference having the position information of the tube to be loaded and the position of the tube-pushing mechanism as endpoints and the rotation direction of the rotating mechanism as a connecting direction; the rotating circumference is a circle having the rotation center of the rotating mechanism as a center and the arm length of the rotating mechanism as a radius;

[0114] The tube raising timing is determined based on the first arc length and the rotation speed of the rotating mechanism.

[0115] In one embodiment of the present application, the tube loading control module 23 is further configured to control the tube pushing mechanism to perform a tube loading operation on the tube to be loaded position information at the tube loading moment in response to the tube pushing mechanism being in a tube loaded state at the tube loading moment;

[0116] In response to the state of the tube-pushing mechanism at the tube-placing moment being in a tube-free state and the existence of next tube-placing position information, the tube-pushing mechanism is controlled to perform a tube-placing operation toward the next tube-placing position information based on the tube-placing moment corresponding to the next tube-placing position information, and current position information of the tube-placing mechanism is determined, and the tube-placing moment corresponding to the tube-placing mechanism is re-determined based on the current position information, and the tube-placing mechanism is controlled to perform the tube-placing operation based on the re-determined tube-placing moment;

[0117] In response to the tube-pushing mechanism being in a tube-free state at the tube-placing moment and having no other tube-placing position information, the current position information of the tube-placing mechanism is determined, and the tube-placing moment corresponding to the tube-placing mechanism is re-determined based on the current position information, and the tube-placing mechanism is controlled to perform the tube-placing operation based on the re-determined tube-placing moment.

[0118] In one embodiment of the present application, the glass tube position information includes position information of each glass tube currently stacked in the rack; the position information of each glass tube is determined by a position information determination module.

[0119] a position information determination module, configured to obtain target diameter information, the number of layers in the rack where the glass tube is located, and the number of columns in the rack where the glass tube is located. The target diameter information is the diameter of a glass tube;

[0120] The position information of the glass tube is determined based on the target diameter information, the layer number of the glass tube in the material rack, and the column number of the glass tube in the material rack.

[0121] See also Figure 5 , Figure 5 This is a schematic block diagram of a controller provided in one embodiment of the present application. Figure 5The controller 300 in the embodiment shown may include: one or more processors 301, one or more input devices 302, one or more output devices 303, and one or more memories 304. The processors 301, input devices 302, output devices 303, and memories 304 communicate with each other via a communication bus 305. The memory 304 is used to store computer programs, which include program instructions. The processor 301 is used to execute the program instructions stored in the memory 304. The processor 301 is configured to call the program instructions to execute the functions of the modules in the above-mentioned device embodiments, such as Figure 4 The functions of the request receiving module 21, the pipe taking control module 22 and the pipe adding control module 23 are shown.

[0122] It should be understood that in the embodiment of the present application, the processor 301 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0123] The input device 302 may include a touchpad, a fingerprint collection sensor (for collecting user fingerprint information and fingerprint direction information), a microphone, etc. The output device 303 may include a display (LCD, etc.), a speaker, etc.

[0124] The memory 304 may include a read-only memory and a random access memory, and provides instructions and data to the processor 301. A portion of the memory 304 may also include a non-volatile random access memory. For example, the memory 304 may also store preset suction conditions.

[0125] In a specific implementation, the processor 301, input device 302, and output device 303 described in the embodiment of the present application can execute the implementation method described in the embodiment of the glass tube processing control method provided in the embodiment of the present application, and can also execute the implementation method of the vertical ampoule bottle processing control system described in the embodiment of the present application, which will not be repeated here.

[0126] In another embodiment of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, all or part of the process of the method in the above embodiment is implemented. The computer program can also be used to instruct related hardware to complete the process. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above method embodiments are implemented. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium.

[0127] The computer-readable storage medium can be the internal storage unit of the vertical ampoule processing control system of any of the aforementioned embodiments, such as the hard disk or memory of the vertical ampoule processing control system. The computer-readable storage medium can also be an external storage device of the vertical ampoule processing control system, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. Furthermore, the computer-readable storage medium can include both the internal storage unit of the vertical ampoule processing control system and an external storage device. The computer-readable storage medium is used to store computer programs and other programs and data required by the vertical ampoule processing control system. The computer-readable storage medium can also be used to temporarily store data that has been output or is about to be output.

[0128] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0129] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the vertical ampoule processing control system and unit described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed vertical ampoule processing control system and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is merely a logical functional division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface or unit, or can be an electrical, mechanical or other form of connection.

[0131] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0132] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0133] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or replacements within the technical scope disclosed in this application, and such modifications or replacements should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A glass tube processing control method, characterized in that: The invention is applied to a vertical ampoule processing control system, the system comprising: a controller, an upper tube mechanism and a lower tube mechanism, the controller interacting with the upper tube mechanism and the lower tube mechanism respectively; the method is executed by the controller, comprising: receiving a tube-loading request signal sent by the lower tube mechanism, the tube-loading request signal carrying information about the position of the tube to be loaded; the tube-loading request signal is sent when the sensor in the lower tube mechanism fails to detect the glass tube at the target position; Controlling the tube loading mechanism to perform a tube removal operation from a rack according to glass tube position information, wherein the rack is used to place glass tubes; the glass tube position information is determined based on the diameter of the glass tube, the number of layers of the glass tube, and the number of columns of the glass tube; Determining a tube loading time based on the tube position information to be loaded, and performing a tube loading operation based on the tube loading time to achieve processing control of the glass tube, wherein the tube loading operation is used to place the glass tube taken in the tube removal operation in the tube lowering mechanism; The upper tube mechanism includes: a suction mechanism, a clamping mechanism and a servo motor; the servo motor is used to provide power for the suction mechanism and the clamping mechanism; The controlling the tube loading mechanism to perform a tube taking operation from the rack according to the glass tube position information includes: Determining the position information of the glass tube to be sucked according to the position information of the glass tube; Controlling the suction mechanism to perform a suction operation on the glass tube to be sucked from the rack based on the position information; In response to the suction force of the suction mechanism not meeting the preset suction force condition, cyclically determining the position information of the next glass tube to be sucked according to the glass tube position information, and controlling the suction mechanism to perform a suction operation based on the position information until the suction force of the suction mechanism meets the preset suction force condition; In response to the suction force of the suction mechanism satisfying a preset suction force condition, controlling the suction mechanism to transport the glass tube to the clamping mechanism; In response to the included angle of the clamping mechanism satisfying a preset included angle condition and the clamping force of the clamping mechanism satisfying a preset clamping condition, controlling the suction mechanism to perform a deflation operation; In response to the completion of the deflation operation, the suction mechanism is controlled to return to a preset position.

2. The glass tube processing control method according to claim 1, wherein: The preset suction conditions include an upper suction limit and a lower suction limit; The process of determining the preset suction condition includes: The upper limit of the suction force is determined based on the diameter of the glass tube; the diameter of the glass tube is negatively correlated with the upper limit of the suction force; The lower limit of the suction force is determined based on the weight of the glass tube; the weight of the glass tube is positively correlated with the lower limit of the suction force.

3. The glass tube processing control method according to claim 1, wherein: The upper tube mechanism further comprises: a tube pushing mechanism; the servo motor is further used to provide power for the tube pushing mechanism; The performing the management operation based on the management time includes: In response to the suction mechanism returning to the safe position, controlling the clamping mechanism to rotate the clamped glass tube to a preset angle; the safe position is the target position of the suction mechanism during the process of returning to the preset position; Controlling the clamping mechanism to convey the glass tube to the tube pushing mechanism; The tube-loading operation is performed based on the state of the tube-pushing mechanism at the tube-loading moment.

4. The glass tube processing control method according to claim 3, wherein: The vertical ampoule processing control system further includes: a rotating mechanism; the rotating mechanism exchanges information with the controller; The determining of the tube placement time based on the tube placement position information includes: A first arc length is determined based on the position information of the tube to be loaded and the position of the tube pushing mechanism, wherein the first arc length is the length of an arc on a rotating circumference having the position information of the tube to be loaded and the position of the tube pushing mechanism as endpoints and the rotation direction of the rotating mechanism as a connecting direction; the rotating circumference is a circumference having the rotation center of the rotating mechanism as a circle center and the arm length of the rotating mechanism as a radius; The tube-up timing is determined based on the first arc length and a rotation speed of the rotating mechanism.

5. The glass tube processing control method according to claim 3, wherein: The performing the tube-placing operation based on the state of the tube-placing mechanism at the tube-placing moment includes: In response to the state of the tube-pushing mechanism being a tube-attached state at the tube-attaching moment, controlling the tube-pushing mechanism to perform a tube-attaching operation at the tube-to-be-attached position information at the tube-attaching moment; In response to the state of the pipe-pushing mechanism being in a no-pipe state at the pipe-placing moment and the existence of next pipe-placing position information, the pipe-pushing mechanism is controlled to perform a pipe-placing operation toward the next pipe-placing position information based on the pipe-placing moment corresponding to the next pipe-placing position information, and the current position information of the pipe-placing mechanism is determined, and the pipe-placing moment corresponding to the pipe-placing mechanism is re-determined based on the current position information, and the pipe-placing mechanism is controlled to perform the pipe-placing operation based on the re-determined pipe-placing moment; In response to the fact that the tube-pushing mechanism is in a no-tube state at the tube-placing moment and there is no other position information of the tube to be placed, the current position information of the lower tube mechanism is determined, and the tube-placing moment corresponding to the lower tube mechanism is re-determined based on the current position information, and the tube-placing mechanism is controlled to perform the tube-placing operation based on the re-determined tube-placing moment.

6. The glass tube processing control method according to claim 1, wherein: The glass tube position information includes position information of each glass tube currently stacked in the rack; The position information of each glass tube is determined by: Obtaining target diameter information, the number of layers of the glass tube in the rack, and the number of columns of the glass tube in the rack, wherein the target diameter information is the diameter of a glass tube; The position information of the glass tube is determined based on the target diameter information, the layer number of the glass tube in the material rack, and the column number of the glass tube in the material rack.

7. A glass tube processing control device, used to implement the glass tube processing control method according to any one of claims 1 to 6, characterized in that: The device is arranged in a controller of a vertical ampoule processing control system, the system further comprising: an upper tube mechanism and a lower tube mechanism, the controller exchanges information with the upper tube mechanism and the lower tube mechanism respectively; the device comprises: a request receiving module, configured to receive a tube-up request signal sent by the lower tube mechanism, the tube-up request signal carrying information about the position of the tube to be loaded; the tube-up request signal is sent when the sensor in the lower tube mechanism fails to detect the glass tube at the target position; a tube removal control module, configured to control the tube loading mechanism to perform a tube removal operation from a rack according to glass tube position information, wherein the rack is used to place glass tubes; the glass tube position information is determined based on the diameter of the glass tube, the number of layers of the glass tube, and the number of columns of the glass tube; The tube loading control module is used to determine the tube loading time based on the position information of the tube to be loaded, and to perform the tube loading operation based on the tube loading time to realize processing control of the glass tube. The tube loading operation is used to place the glass tube taken by the tube taking operation in the tube lowering mechanism.

8. A vertical ampoule processing control system, comprising a controller, an upper tube mechanism, a lower tube mechanism, and a rotating mechanism, wherein the controller exchanges information with the upper tube mechanism, the lower tube mechanism, and the rotating mechanism respectively, and implements the steps of the method according to any one of claims 1 to 6 when executing a computer program.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images